/*
 * This file is part of the Sx Framework Library.
 * 
 * Copyright (C) 2013 University of Colorado Denver
 * <min.choi@ucdenver.edu> <shane.transue@ucdenver.edu>
 * 
 * Permission is hereby granted, free of charge, to any person obtaining a copy 
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 
 * copies of the Software, and to permit persons to whom the Software is 
 * furnished to do so, subject to the following conditions:
 * 
 * The above copyright notice and this permission notice shall be included in 
 * all copies or substantial portions of the Software.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING 
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER 
 * DEALINGS IN THE SOFTWARE.
 */
#ifndef SX_DISCRETE_STATE_H
#define SX_DISCRETE_STATE_H

#include <sxPhysicalState.h>
#include <sxArrayList.h>

namespace Sx {
namespace Physics {

/*
 * A physical state defines various properties about how a dynamic object
 * is interacting with a physical environment. These variables represent the
 * state of the dynamic object for one instance in time.
 */
struct DiscreteState : public PhysicalState {
	DiscreteState() {}
	DiscreteState(const DiscreteState& state) {
		this->velocities = state.velocities;
		this->previousVelocities = state.previousVelocities;
		this->accelerations = state.accelerations;
		this->internalForces = state.internalForces;
		this->externalForces = state.externalForces;
	}

	DiscreteState& operator = (const DiscreteState& state) {
		if ( this == &state ) return *this;
		this->velocities = state.velocities;
		this->previousVelocities = state.previousVelocities;
		this->accelerations = state.accelerations;
		this->internalForces = state.internalForces;
		this->externalForces = state.externalForces;
		return *this;
	}

	Util::ArrayList<Eigen::Vector3d> velocities;
	Util::ArrayList<Eigen::Vector3d> previousVelocities;
	Util::ArrayList<Eigen::Vector3d> accelerations;
	Util::ArrayList<Eigen::Vector3d> internalForces;
	Util::ArrayList<Eigen::Vector3d> externalForces;
};

}

}

#endif
